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<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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<div class="title">py_robot_properties_teststand.config.TeststandConfig Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
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def&#160;</td><td class="memItemRight" valign="bottom"><b>buildRobotWrapper</b> ()</td></tr>
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Static Public Attributes</h2></td></tr>
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string&#160;</td><td class="memItemRight" valign="bottom"><b>robot_name</b> = &quot;teststand&quot;</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>kp</b> = 5.0</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>kd</b> = 0.1</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>ki</b> = 0.0</td></tr>
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<tr class="memitem:ae8b0e21a78fe89c48b707028bc892559"><td class="memItemLeft" align="right" valign="top">tuple&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_path</b></td></tr>
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<tr class="memitem:acc7f8bb5b23a6ec613194e217e41fb25"><td class="memItemLeft" align="right" valign="top">tuple&#160;</td><td class="memItemRight" valign="bottom"><b>yaml_path</b></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>motor_inertia</b> = 0.0000045</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>motor_gear_ration</b> = 9</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>motor_torque_constant</b> = 0.025</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>robot_model</b> = se3.buildModelFromUrdf(urdf_path)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>nb_joints</b> = robot_model.nv-1</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>control_period</b> = 0.001</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>dt</b> = control_period</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>max_current</b> = 2</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_torque</b> = motor_torque_constant*max_current</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_control</b> = max_current</td></tr>
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tuple&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_to_dgm</b> = (0,1,2)</td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>ctrl_manager_current_to_control_gain</b> = 1.0</td></tr>
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dictionary&#160;</td><td class="memItemRight" valign="bottom"><b>map_joint_name_to_id</b> = {}</td></tr>
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dictionary&#160;</td><td class="memItemRight" valign="bottom"><b>map_joint_limits</b> = {}</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>max_qref</b> = pi</td></tr>
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list&#160;</td><td class="memItemRight" valign="bottom"><b>initial_configuration</b> = [0.4, 0.8, -1.6]</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>initial_velocity</b> = 3</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>q0</b> = zero(robot_model.nq)</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>v0</b> = zero(robot_model.nv)</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>a0</b> = zero(robot_model.nv)</td></tr>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname">tuple py_robot_properties_teststand.config.TeststandConfig.urdf_path</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= (</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        join(rospkg.RosPack().get_path(<span class="stringliteral">&quot;robot_properties_teststand&quot;</span>),</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;             <span class="stringliteral">&quot;urdf&quot;</span>,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;             <span class="stringliteral">&quot;teststand.urdf&quot;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    )</div></div><!-- fragment -->
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          <td class="memname">tuple py_robot_properties_teststand.config.TeststandConfig.yaml_path</td>
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<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;= (</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        join(rospkg.RosPack().get_path(<span class="stringliteral">&quot;robot_properties_teststand&quot;</span>),</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;             <span class="stringliteral">&quot;config&quot;</span>,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;             <span class="stringliteral">&quot;teststand.yaml&quot;</span>)</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    )</div></div><!-- fragment -->
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_properties/robot_properties_teststand/src/py_robot_properties_teststand/config.py</li>
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